Motion Planning: Part I: The Essentials

Authors

Steven M. LaValle

Year

2011

Journal Paper

Algorithm

Motion Planning Tutorial

Source

IEEE Robotics and Automation Magazine

Identifiers

DOI 10.1109/MRA.2011.940276

Abstract¶

This is the first installment of a two-part tutorial. The goal of the first part is to give the reader a basic understanding of the technical issues and types of approaches in solving the basic path-planning or obstacle-avoidance problem. The second installment will cover more advanced issues, including feedback, differential constraints, and uncertainty. Note that this is a brief tutorial rather than a comprehensive survey of methods. For the latter, consult some of the recent textbooks [4], [9].

Summary¶

Provides an introductory tutorial on core robot motion-planning problems and methods, especially path planning and obstacle avoidance. It sets up a second part on feedback, differential constraints, and uncertainty.